IEEE Trans Cybern. 2019 May;49(5):1768-1779. doi: 10.1109/TCYB.2018.2813431. Epub 2018 Mar 20.
In this paper, we study an optimal output consensus problem for a multiagent network with agents in the form of multi-input multioutput minimum-phase dynamics. Optimal output consensus can be taken as an extended version of the existing output consensus problem for higher-order agents with an optimization requirement, where the output variables of agents are driven to achieve a consensus on the optimal solution of a global cost function. To solve this problem, we first construct an optimal signal generator, and then propose an embedded control scheme by embedding the generator in the feedback loop. We give two kinds of algorithms based on different available information along with both state feedback and output feedback, and prove that these algorithms with the embedded technique can guarantee the solvability of the problem for high-order multiagent systems under standard assumptions.
在本文中，我们研究了一种具有多输入多输出最小相位动力学形式的多智能体网络的最优输出共识问题。最优输出共识可以看作是具有优化要求的高阶智能体现有输出共识问题的扩展版本，其中智能体的输出变量被驱动以实现全局代价函数最优解的共识。为了解决这个问题，我们首先构建了一个最优信号发生器，然后通过将发生器嵌入反馈环中提出了一种嵌入式控制方案。我们给出了两种基于不同可用信息的算法，同时包括状态反馈和输出反馈，并证明了在标准假设下，这些带有嵌入式技术的算法可以保证高阶多智能体系统问题的可解性。
